EP3132784B1

EP3132784B1 - Gait state determination apparatus and walking training apparatus

Info

Publication number: EP3132784B1
Application number: EP16179940.8A
Authority: EP
Inventors: Hikaru Sugata
Original assignee: Toyota Motor Corp
Current assignee: Toyota Motor Corp
Priority date: 2015-08-17
Filing date: 2016-07-18
Publication date: 2021-12-22
Anticipated expiration: 2036-07-18
Also published as: US20170049660A1; US10874576B2; EP3132784A1; CN106466219A; JP2017038658A; JP6554996B2; KR20170021205A; CN106466219B; KR20170104128A; KR102037099B1

Description

BACKGROUND OF THE INVENTION

1. Field of the Invention

The present invention relates to a walking training apparatus capable of determining a gait state of a user.

2. Description of Related Art

WO 2013/142777 A1 discloses a powered lower extremity orthotic comprising an exoskeleton to be coupled to an upper body of a user, a leg support to be attached to a lower limb of the user, an actuator for shifting the leg support relative to a waist portion of the exoskeleton, and a controller for controlling the actuator to cause the leg support to follow a series of orientations collectively reproducing a natural human motion. The controller is configured to place the leg support into a state corresponding to taking a step when a force distribution sensor senses that a center of pressure of forces distributed over a bottom of the foot enters a specified region.
JP 2012 95793 A discloses a walking training apparatus including a walking assistance apparatus that is attached to a leg of a user and assists walking performed by the user.
Regarding the walking training apparatus of JP 2012 95793 A , assume a configuration in which first pulling means for pulling one of the walking assistance apparatus and a user's leg upward and forward, and second first pulling means for pulling one of the walking assistance apparatus and the user's leg upward and forward are further added, and the resultant force of the vertically-upward components of the pulling forces applied by the first and second pulling means is roughly equal to the weight of the walking assistance apparatus so that the load caused by the gravitational force of the walking assistance apparatus exerted on the user's leg is reduced. The present inventors have found that the following problem occurs in this configuration. That is, the timing of the start of swinging of a leg in walking is also the timing at which the user reverses his/her leg's motion from the backward motion to the forward motion. Therefore, the leg to which the walking assistance apparatus is attached receives the backward inertial force from the walking assistance apparatus at this reverse timing. However, although the above-described walking training apparatus reduces the load on user's walking caused by the gravitational force of the walking assistance apparatus, it does not reduce the above-described load caused by the inertial force. Therefore, an excessive load is exerted on the leg to which the walking assistance apparatus is attached at the start of swinging of that leg. Further, when the load caused by the gravitational force in the vertically-upward direction is reduced as in the above-described configuration, the inertial force in the vertical direction for raising the leg from the ground (lifting the leg upward), in addition to the backward inertial force, acts as a load on the leg.
Therefore, to reduce this load caused by the inertial force, it is preferred to accurately determine the start of swinging of the leg to which the walking assistance apparatus is attached and, for example, increase a pulling force applied by pulling means so as to reduce the inertial force at the start of swinging of the leg. However, in the above-described walking training apparatus, the start of swinging of the leg to which the walking assistance apparatus is attached is not determined and the above-described load is not reduced.

SUMMARY OF THE INVENTION

The present invention has been made in view of the above-described problem and the main object thereof is to provide a walking training apparatus capable of reducing the inertial force at the start of swinging of a leg to which a walking assistance apparatus is attached.
According to an aspect of the present invention, the aforementioned object is achieved by a walking training apparatus as specified in claim 1. According to this aspect, it is possible to accurately determine the start of swinging of the leg to which the walking assistance apparatus is attached, and reduce the inertial force at the start of swinging of the leg, which is accurately determined, by increasing the pulling force applied by the first pulling means at the start of swinging of the leg.
The above and other objects, features and advantages of the present invention will become more fully understood from the detailed description given hereinbelow and the accompanying drawings which are given by way of illustration only, and thus are not to be considered as limiting the present invention.

BRIEF DESCRIPTION OF THE DRAWINGS

Fig. 1 is a perspective view showing a schematic configuration of a walking training apparatus according to an exemplary embodiment of the present invention;
Fig. 2 is a perspective view showing a schematic configuration of a walking assistance apparatus;
Fig. 3 shows pressure sensors provided on a toe side and a heel side of a sole frame;
Fig. 4 is a block diagram showing a schematic system configuration of a control device according to an exemplary embodiment of the present invention;
Fig. 5 is a block diagram showing a schematic system configuration of a computer according to an exemplary embodiment of the present invention;
Fig. 6 shows a toe region, a middle region, and a heel region of a sole;
Fig. 7 is a flowchart showing an example of a determination flow according to a gait state determination method;
Fig. 8 shows an example of a timing of a start of swinging of a leg;
Fig. 9 is a flowchart showing an example of a determination flow according to a gait state determination method; and
Fig. 10 shows an example of a timing of a start of swinging of a leg.

DESCRIPTION OF THE EXEMPLARY EMBODIMENTS

Exemplary embodiments according to the present invention are explained hereinafter with reference to the drawings.
Fig. 1 is a perspective view showing a schematic configuration of a walking training apparatus according to an exemplary embodiment of the present invention. A walking training apparatus 1 according to this exemplary embodiment is, for example, an apparatus by which a user such as a patient having hemiplegia caused by a stroke does a walking training. The walking training apparatus 1 includes a walking assistance apparatus 2 attached to the user's leg and a training apparatus 3 by which the user does a walking training.
The walking assistance apparatus 2 is, for example, attached to a diseased leg of a user who does a walking training and assists walking of the user (Fig. 2). The walking assistance apparatus 2 includes an upper thigh frame 21, a lower thigh frame 23 connected to the upper thigh frame 21 through a knee joint part 22, a sole frame (a specific example of the foot attachment part) 25 connected to the lower thigh frame 23 through an ankle joint part 24, a motor unit 26 that rotationally drives the knee joint part 22, and an adjustment mechanism 27 that adjusts the movable range of the ankle joint part 24. Note that the above-described configuration of the walking assistance apparatus 2 is merely an example and the configuration of the walking assistance apparatus 2 is not limited to such an example. For example, the walking assistance apparatus 2 may include another motor unit that rotationally drives the ankle joint part 24.
A pair of pressure sensors 28 is provided on each of a toe side and a heel side of the sole frame 25 (Fig. 3). The pressure sensors 28 are a specific example of the pressure detection means. Each of the pressure sensors 28 is, for example, a vertical pressure sensor that detects a vertical pressure exerted on the sole of the sole frame 25. Note that the number and the positions of the pressure sensors 28 provided in the sole frame 25 may be arbitrarily determined, provided that they can accurately determine the center of the pressure exerted on the sole. For example, at least three pressure sensors 28 need to be disposed and they should not be arranged in a straight line. For the pressure center determination, the pressure sensors 28 are preferably disposed so that the area of a polygon that is formed by connecting the disposed pressure sensors 28 by straight lines becomes larger. In this way, the pressure center can be accurately detected over a wide area.
The walking assistance apparatus 2 is a specific example of the pressure center calculation means and successively calculates the position of the COP (Center Of Pressure) (hereinafter also referred to as the "COP position") of the sole during the user's gait motion based on the pressure on the sole of the sole frame 25 detected by the pressure sensors 28.
For example, as shown in Fig. 3, the center position of the sole of the sole frame 25 is defined as the origin of a two-dimensional XY-coordinate system, and the positions of a first pressure sensor 28 on a toe side, a second pressure sensor 28 on the toe side, a third pressure sensor on a heel side, and a fourth pressure sensor on the heel side are expressed as (x1, y1), (x2, y2), (x3, y3) and (x4, y4), respectively. Further, the magnitudes of pressures exerted on the first to fourth pressure sensors 28 are represented by Ni (i=1 to 4). For example, the walking assistance apparatus 2 calculates a COP position (x_COP, y_COP) by using the below-shown expression. $\begin{matrix} x_{COP} = \frac{\sum_{i = 1}^{4} N_{i} x_{i}}{\sum_{i = 1}^{4} N_{i}} \\ y_{COP} = \frac{\sum_{i = 1}^{4} N_{i} y_{i}}{\sum_{i = 1}^{4} N_{i}} \end{matrix}$
The above-described method for calculating a COP position is merely an example and the calculation method is not limited to this example. For example, instead of providing the pressure sensors 28, a pressure distribution sensor that detects a pressure distribution on the sole of the sole frame 25 may be provided on the sole of the sole frame 25. The walking assistance apparatus 2 may calculate a COP position based on a pressure distribution on the sole calculated by the pressure distribution sensor.
The upper thigh frame 21 is attached to the upper thigh of the user's leg and the lower thigh frame 23 is attached to the lower thigh of the user's leg. The upper thigh frame 21 is, for example, equipped with an upper thigh harness 212 for fixing the upper thigh. The upper thigh frame 21 is equipped with a horizontally-extending and horizontally-long first frame 211 for connecting with a wire 36 of a first pulling unit 33 (which is described later).
Note that the above-described connecting part of the first pulling unit 33 is merely an example and the connection of the first pulling unit 33 is not limited to such an example. For example, the wire 36 of the first pulling unit 33 may be connected to the upper thigh harness 212 and the pulling point of the first pulling unit 33 can be disposed at an arbitrary position in the walking assistance apparatus 2.
The motor unit 26 rotationally drives the knee joint part 22 according to the walking motion of the user and thereby assists the walking of the user. Note that the above-described configuration of the walking assistance apparatus 2 is merely an example and the configuration of the walking assistance apparatus 2 is not limited to such an example. Any walking assistance apparatus capable of being attached to the user's leg and assisting walking of the user can be applied.
The training apparatus 3 includes a treadmill 31, a frame main body 32, first and second pulling units 33 and 34, and a control device 35. The treadmill 31 rotates a ring-shaped belt 311. The user gets on the belt 311 and walks on the belt 311 according to the movement of the belt 311. By doing so, the user does a walking training.
The frame main body 32 includes two pairs of pillar frames 321 vertically disposed on the treadmill 31, a pair of lengthwise frames 322 extending in the lengthwise direction and connected to respective pillar frames 321, and three crosswise frames 323 extending in the crosswise direction and connected to each of the lengthwise frames 322. Note that the configuration of the above-described frame main body 32 is not limited to this example. Any frame structure can be adopted for the frame main body 32, provided that the first and second pulling units (which are described later) can be appropriately fixed to the frame main body 32.
In the front crosswise frame 323, the first pulling unit 33 that pulls the wire 36 upward and forward is provided. The first pulling unit 33 is a specific example of the first pulling means. The first pulling unit 33 includes, for example, a mechanism for winding up and back the wire 36, a motor that drives the mechanism, and so on. One end of the wire 36, which is pulled by the first pulling unit 33, is connected to the walking assistance apparatus 2. The first pulling unit 33 pulls the walking assistance apparatus 2 upward and forward through the wire 36.
The vertically-upward component of the pulling force applied by the first pulling unit 33 supports the weight of the walking assistance apparatus 2. The horizontally-forward component of the pulling force applied by the first pulling unit 33 assists the start of swinging of the leg. In this way, the walking load of the user in the walking training can be reduced.
The second pulling unit 34 is disposed in the rear crosswise frame 323 and pulls a wire 37 upward. One end of the wire 37 is connected to, for example, a belt attached to at or near the user's waist. The second pulling unit 34 includes, for example, a mechanism for winding up and back the wire 37, a motor that drives the mechanism, and so on. The second pulling unit 34 pulls the user's waist upward through the wire 37. In this way, the load on the user caused by the weight of the user himself/herself can be reduced. Each of the first and second pulling units 33 and 34 is connected to the control device 35 through a wiring line or the like.
The control device 35 controls each of the pulling forces applied by the first and second pulling units 33 and 34, the driving of the treadmill 31, and the walking assistance apparatus 2. For example, the control device 35 is formed by hardware mainly using a microcomputer including a CPU (Central Processing Unit) that performs arithmetic processing, control processing, and so on, a ROM (Read Only Memory) that stores an arithmetic program, a control program and so on to be executed by the CPU, a RAM (Random Access Memory) that stores various data and so on, and an interface unit (I/F) that externally receives and outputs signals. The CPU, the ROM, the RAM, and the interface unit are connected with each other through a data bus or the like.
Fig. 4 is a block diagram showing a schematic system configuration of the control device according to this exemplary embodiment.
The control device 35 includes, for example, a leg load relief control unit 351 that controls the first pulling unit 33, a person load relief control unit 352 that controls the second pulling unit 34, a leg control unit 353 that controls the walking assistance apparatus 2, a treadmill control unit 354 that controls the treadmill 31, a computer or a PC (Personal Computer) 355 that controls these units, and an operation panel 356 for operating the computer 355. The operation panel 356 displays information such as a training instruction, a training menu, and training information (such as walking speed and biological information). The operation panel 356 is formed, for example, as a touch panel, and a user can enter various types of information (pulling forces applied by the first and second pulling units 33 and 34) through the operation panel 356.
Incidentally, the timing of the start of swinging of a leg in the user's gait motion is also the timing at which the user reverses his/her leg's motion from the backward motion to the forward motion. Therefore, the leg to which the walking assistance apparatus is attached receives the backward inertial force from the walking assistance apparatus and hence a load is exerted on the leg at this reverse timing. Further, when the user lifts his/her leg upward, the downward inertial force also acts as a load that is caused as the user starts to swing the leg.
Therefore, to reduce this load caused by the inertial force, it is preferred to accurately determine the start of swinging of the leg to which the walking assistance apparatus is attached and increase a pulling force applied by the pulling means so as to reduce the inertial force at the start of swinging of the leg.
For this purpose, in this exemplary embodiment, attention is paid to an ergonomic characteristic that when a human is walking, the COP position is shifted from a heel region to a toe region during a period from when the foot is landed to when the foot starts swinging. By using this ergonomic characteristic, the start of swinging of the foot is accurately determined. That is, in a gait state determination apparatus according to this exemplary embodiment, a pressure exerted on the sole of the sole frame 25 of the walking assistance apparatus 2 is detected and a COP position on the sole is calculated based on the detected pressure on the sole. Then, when the calculated COP position is shifted from a position in a heel region of the sole to a toe region thereof, it is determined that it is a timing of a start of forward swinging of the leg to which the walking assistance apparatus 2 is attached. In this way, the start of swinging of the leg to which the walking assistance apparatus 2 is attached can be accurately determined. Further, it is possible to reduce the inertial force at the start of swinging of the leg, which is accurately determined, by increasing the pulling force f applied by the first pulling unit 33 and thereby generating an additional pulling force at the start of swinging of the leg.
Fig. 5 is a block diagram showing a schematic system configuration of a computer according to this exemplary embodiment. A computer 355 according to this exemplary embodiment includes a motion determination unit 357 that determines the start of swinging of a leg to which the walking assistance apparatus 2 is attached and a pulling force calculation unit 358 that increases the pulling force f applied by the first pulling unit 33 at the start of swinging of the leg.
The motion determination unit 357 is a specific example of the motion determination means. The motion determination unit 357 determines whether or not the COP position calculated by the walking assistance apparatus 2 is shifted from the heel region to the toe region of the sole of the sole frame 25 and thereby determines the start of forward swinging of the leg to which the walking assistance apparatus 2 is attached.
Next, a gait state determination method for accurately determining a start of forward swinging of a leg to which a walking assistance apparatus is attached is explained in detail.
For example, as shown in Fig. 6, an XY-coordinate system in which the center of the sole of the sole frame 25 is defined as the origin of the coordinate system is defined. Then, each of a toe region, a middle region, and a heel region is defined on the sole in the XY-coordinate system. On the sole, a region whose x-coordinate value is equal to or greater than a toe-region determination threshold is the toe region (a hatched area). A region whose x-coordinate value is equal to or smaller than a heel-region determination threshold is the heel region (another hatched area). A region whose x-coordinate value is greater than the heel-region determination threshold and smaller than the toe-region determination threshold (i.e., a region between the toe region and the heel region) is the middle region. Note that the above-described toe-region determination threshold and heel-region determination threshold are experimentally obtained in advance, for example, and stored in the aforementioned ROM, the RAM, or the like. Further, the toe-region determination threshold and the heel-region determination threshold can be arbitrarily defined/changed by a user through, for example, the operation panel 356 or the like.
The motion determination unit 357 determines that the user has started swinging his/her leg to which the walking assistance apparatus 2 is attached forward when, for example, the COP position calculated by the walking assistance apparatus 2 moves from the heel region to the middle region and then enters the toe region in the above-described XY-coordinate system.
Fig. 7 is a flowchart showing an example of a determination flow according to the gait state determination method.
The motion determination unit 357 determines whether or not the leg to which the walking assistance apparatus 2 is attached is in a leg-standing state based on the pressure on the sole of the sole frame 25 detected by the pressure sensors 28 of the walking assistance apparatus 2 (step S101).
When the motion determination unit 357 determines that the leg to which the walking assistance apparatus 2 is attached is in the leg-standing state (Yes at step S101), the motion determination unit 357 determines whether or not the COP position x_cop has changed from a value smaller than the heel-region determination threshold to a value equal to or greater than the toe-region determination threshold (i.e., whether or not the COP position has moved from the heel region and entered the toe region) (step S102). On the other hand, when the motion determination unit 357 determines that the leg to which the walking assistance apparatus 2 is attached is not in the leg-standing state (i.e., is in a leg-idling state) (No at step S101), the motion determination unit 357 proceeds to a later-described step S104.
For example, as shown in Fig. 8, when the motion determination unit 357 determines that the COP position x_cop has changed from a value smaller than the heel-region determination threshold to a value equal to or greater than the toe-region determination threshold (Yes at step S102), the motion determination unit 357 determines that the user has started swinging his/her leg to which the walking assistance apparatus 2 is attached forward (step S 103). On the other hand, when the motion determination unit 357 determines that the COP position x_cop has not changed from a value smaller than the heel-region determination threshold to a value equal to or greater than the toe-region determination threshold (No at step S102), the motion determination unit 357 determines that the user has not started swinging his/her leg to which the walking assistance apparatus 2 is attached forward (step S104).
Note that the motion determination unit 357 may determine that the user has started swinging his/her leg to which the walking assistance apparatus 2 is attached forward when the COP position calculated by the walking assistance apparatus 2 has moved from the heel region and entered the toe region, and remained in the toe region for a predetermined time or longer. For example, there are cases where the COP position is unstable because the COP position randomly drifts or vibrates such as a case where the user walks in a swinging manner. Even in such cases, it is possible to determine the start of swinging of the leg in a stable state in which the COP position has moved from the heel region and entered the toe region, and remained in the toe region for the predetermined time or longer. In this way, the start of forward swinging of the leg to which the walking assistance apparatus 2 is attached can be determined more accurately. Note that the aforementioned predetermined time is determined, for example, according to the sensor characteristic of the pressure sensor and/or the gait state of the user in advance, and stored in the ROM, the RAM, or the like. Further, the aforementioned predetermined time can be arbitrarily defined/changed by a user through, for example, the operation panel 356 or the like.
Fig. 9 is a flowchart showing an example of a determination flow according to the above-described gait state determination method.
The motion determination unit 357 determines whether or not the leg to which the walking assistance apparatus 2 is attached is in a leg-standing state based on the pressure on the sole of the sole frame 25 detected by the pressure sensors 28 of the walking assistance apparatus 2 (step S201).
When the motion determination unit 357 determines that the leg to which the walking assistance apparatus 2 is attached is in the leg-standing state (Yes at step S201), the motion determination unit 357 determines whether or not the COP position x_cop has changed from a value smaller than the heel-region determination threshold to a value equal to or greater than the toe-region determination threshold (step S202). On the other hand, when the motion determination unit 357 determines that the leg to which the walking assistance apparatus 2 is attached is not in the leg-standing state (No at step S201), the motion determination unit 357 proceeds to a later-described step S205.
When the motion determination unit 357 determines that the COP position x_cop has changed from a value smaller than the heel-region determination threshold to a value equal to or greater than the toe-region determination threshold (Yes at step S202), the motion determination unit 357 determines whether or not the COP position x_cop continuously has a value equal to or greater than the toe-region determination threshold (i.e., has remained in the toe region) for a predetermined time or longer (step S203). On the other hand, when the motion determination unit 357 determines that the COP position x_cop has not changed from a value smaller than the heel-region determination threshold to a value equal to or greater than the toe-region determination threshold (No at step S202), the motion determination unit 357 proceeds to a later-described step S205.
For example, as shown in Fig. 10, when the motion determination unit 357 determines that the COP position x_cop continuously has a value equal to or greater than the toe-region determination threshold for the predetermined time or longer (Yes at step S203), the motion determination unit 357 determines that the user has started swinging his/her leg to which the walking assistance apparatus 2 is attached forward (step S204). On the other hand, when the motion determination unit 357 determines that the COP position x_cop does not continuously have a value equal to or greater than the toe-region determination threshold for the predetermined time or longer (No at step S203), the motion determination unit 357 determines that the user has not started swinging his/her leg to which the walking assistance apparatus 2 is attached forward (step S205).
Typically, the pulling force calculation unit 358 controls the first pulling unit 33 so that the vertically-upward component f2 of the pulling force f applied by the first pulling unit 33 reduces the gravitational force of the walking assistance apparatus. For example, the pulling force calculation unit 358 controls the first pulling unit 33 so that the vertically-upward component f2 of the pulling force f applied by the first pulling unit 33 is made equal to the gravitational force of the walking assistance apparatus or equal to half of the gravitational force of the walking assistance apparatus.
Further, when the motion determination unit 357 determines that the user has started swinging his/her leg to which the walking assistance apparatus 2 is attached, the pulling force calculation unit 358 controls the first pulling unit 33 so that the first pulling unit 33 increases its pulling force f.
Still further, the pulling force calculation unit 358 changes the increment of the pulling force command value according to the magnitude of the toe-region determination threshold of the motion determination unit 357 at the time of the determination of the start of swinging of the leg. For example, there are cases where it is desired to reduce the inertial force at the time of the start of swinging of the leg at an early timing and hence the toe-region determination threshold is set to a value smaller than the ordinary value. In such cases, the pulling force calculation unit 358 may reduce the increment of the pulling force command value at the time of the determination of the start of swinging of the leg. On the contrary, there are cases where it is desired to reduce the inertial force at the time of the start of swinging of the leg at a late timing and hence the toe-region determination threshold is set to a value larger than the ordinary value. In such cases, the pulling force calculation unit 358 may increase the increment of the pulling force command value at the time of the determination of the start of swinging of the leg. In this way, the inertial force at the time of the start of swinging of the leg can be reduced in a more natural manner.
As described above, according to this exemplary embodiment, the load on the user's walking caused by the gravitational force of the walking assistance apparatus 2 can be reduced by controlling the first pulling unit 33 so that the vertically-upward component f2 of the pulling force f applied by the first pulling unit 33 reduces the gravitational force of the walking assistance apparatus 2. Further, according to this exemplary embodiment, the start of swinging of the leg is accurately determined. Then, the pulling force f applied by the first pulling unit 33 is increased and hence its horizontally-forward component f1 is increased at this determined start of swinging of the leg, so that the load caused by the inertial force of the walking assistance apparatus 2 can be reduced at the start of swinging of the leg.
The pulling force calculation unit 358 calculates a pulling force command value for the first pulling unit 33 and outputs the calculated pulling force command value to the first pulling unit 33. The first pulling unit 33 pulls the wire 36 of the walking assistance apparatus 2 according to the pulling force command value output from the pulling force calculation unit 358. At this point, the vertically-upward component f2 of the pulling force f applied by the first pulling unit 33 supports the weight of the walking assistance apparatus 2. The horizontally-forward component f1 of the pulling force f applied by the first pulling unit 33 assists the start of swinging of the leg. That is, the pulling force command value is set so that, for the normal walking motion of the user, the vertically-upward component f2 of the pulling force f supports the weight of the walking assistance apparatus 2 and the horizontally-forward component f1 of the pulling force f optimally assists the start of swinging of the leg.
The pulling force calculation unit 358 sharply increases the pulling force command value in a short time, for example, in a pulsed manner according to the determination of the start of swinging of the leg made by the motion determination unit 357. Note that the increment of the pulling force command value may be set, for example, based on the inertial force of the walking assistance apparatus 2 calculated from the moving speed of the belt 311 of the treadmill 31. When a certain time has elapsed after the start of swinging of the leg is detected, the pulling force calculation unit 358 outputs the normal pulling force command value to the first pulling unit 33.
As described above, in this exemplary embodiment, a pressure exerted on the sole of the sole frame 25 of the walking assistance apparatus 2 is detected and a COP position on the sole is calculated based on the detected pressure on the sole. Then, when the calculated COP position is shifted from a position in a heel region of the sole to a toe region thereof, it is determined that it is a timing of a start of forward swinging of the leg to which the walking assistance apparatus 2 is attached. In this way, it is possible to accurately determine the start of swinging of the leg to which the walking assistance apparatus 2 is attached by using the ergonomic characteristic that the COP position is shifted from the heel region to the toe region when the leg starts swinging. Further, it is possible to reduce the load caused by the inertial force of the walking assistance apparatus 2 and thereby reduce the load exerted on the leg at the start of swinging of the leg, which is accurately determined, by increasing the pulling force f applied by the first pulling unit 33 at the start of swinging of the leg.
Note that the present invention is not limited to the above-described exemplary embodiment, and various modifications can be made without departing from the scope of the present invention as defined in the attached claims.
In the above-described exemplary embodiment, the walking assistance apparatus 2 calculates a COP position based on the pressure on the sole of the sole frame 25 detected by the pressure sensors 28 and transmits the calculated COP position to the control device 35. However, the present invention is not limited to such a configuration. The computer 355 of the control device 35 may calculate the COP position based on the pressure on the sole of the sole frame 25 detected by the pressure sensors 28 of the walking assistance apparatus 2.
In the above-described exemplary embodiment, the computer 355 of the control device 35 includes the motion determination unit 357 that determines the start of swinging of a leg to which the walking assistance apparatus 2 is attached. However, the present invention is not limited to such a configuration. The walking assistance apparatus 2 may include the motion determination unit 357. In this case, when the motion determination unit 357 of the walking assistance apparatus 2 determines the start of swinging of the leg, the pulling force calculation unit 358 of the computer 355 of the control device 35 increases the pulling force command value according to the swinging start determination result received from the motion determination unit 357 of the walking assistance apparatus.
In the above-described exemplary embodiment, the pulling force calculation unit 358 may increase the pulling force command value according to the determination of the start of swinging of the leg made by the motion determination unit 357 and then gradually decrease the pulling force command value. For example, the pulling force calculation unit 358 increases the pulling force command value in a pulsed manner when the start of swinging of the leg is determined. After that, the pulling force calculation unit 358 gradually decreases the pulling force command value and returns the pulling force command value to the normal value when the swinging period has been finished (when the sole frame 25 lands on the ground). In this case, the pulling force calculation unit 358 may increase the pulling force command value as the pulling force exerted on the wire 36 of the walking assistance apparatus 2 increases during this swinging period.
In this way, it is possible to continuously add a pulling force larger than the normal pulling force in the swinging direction during the swinging period. As a result, it is possible to reduce not only the load caused by the inertial force but also the overall load of the swinging motion.
The above-described exemplary embodiment may have a configuration in which a third pulling unit 38 that pulls the walking assistance apparatus upward and backward through a wire 39 is provided in the crosswise frame 323 of the frame main body 32. The third pulling unit 38 is a specific example of the second pulling means. The resultant force of the vertically-upward components of the pulling forces applied by the first and third pulling units 33 and 38 supports the weight of the walking assistance apparatus 2. Further, the resultant force of the horizontal components of the pulling forces applied by the first and third pulling units 33 and 38 assists the start of swinging of the leg.
The pulling force calculation unit 358 outputs a pulling force command value that makes the resultant force of the vertically-upward components of the pulling forces applied by the first and third pulling units 33 and 38 equal to the gravitational force of the walking assistance apparatus 2 to the first and third pulling units 33 and 38. Further, the pulling force calculation unit 358 increases the pulling force command value from its normal value for a certain time period according to the determination of the start of swinging of the leg made by the motion determination unit 357 and outputs the increased pulling force command value to the first pulling unit 33. At this point, the pulling force calculation unit 358 is outputting the normal pulling force command value (pulling force command value = constant) to the third pulling unit 38. However, the present invention is not limited to such a configuration and method.
That is, the pulling force command value for the third pulling unit 38 may be changed in a manner similar to the pulling force command value for the first pulling unit 33. In other words, the pulling force calculation unit 358 changes the pulling force command values for the first and third pulling units 33 and 38 and thereby increases the horizontally-forward components of the pulling forces applied by the first and third pulling units 33 and 38 at the start of swinging of the leg. In this way, the vertically-upward components and the horizontally-forward components of the pulling forces applied by the first and third pulling units 33 and 38 can be accurately controlled independently of each other. As a result, it is possible to, while reducing the load caused by the gravitational force of the walking assistance apparatus, reduce the load exerted on the leg to which the walking assistance apparatus 2 is attached at the start of swinging of that leg in a more optimal manner.
In the above-described exemplary embodiment, the training apparatus 3 may not include the frame main body 32. In such a case, the first and second pulling units may be, for example, disposed (or mounted) on the wall or the ceiling.
Although the wire 36 of the first pulling unit 33 is connected to the walking assistance apparatus 2 in the above-described exemplary embodiment, the present invention is not limited to such a configuration. For example, the wire 36 of the first pulling unit 33 may be connected to the user's leg through a fixture such as a belt and ring. Further, the wire 36 of the first pulling unit 33 may be connected to both the walking assistance apparatus 2 and the user's leg.
Although the user outfitted with the walking assistance apparatus 2 walks on the treadmill 31 in the above-described exemplary embodiment, the present invention is not limited to such a configuration. The present invention may be applied to a configuration in which a user outfitted with the walking assistance apparatus 2 walks on a stationary road surface and the first pulling unit 33 is moved according to the movement of the user.

Claims

A walking training apparatus (1) comprising:
a gait state determination apparatus that comprises a walking assistance apparatus (2) and is configured to determine a gait state of a user, the walking assistance apparatus (2) being configured to be attached to a leg of the user and assist user's walking;

first pulling means (33) for pulling the leg to which the walking assistance apparatus (2) is to be attached or the walking assistance apparatus (2) upward and forward; and

control means (35) for controlling the first pulling means (33) so that a vertically-upward component of a pulling force applied by the first pulling means (33) supports a weight of the walking assistance apparatus (2), wherein

the gait state determination apparatus comprises:
a foot attachment part (25) disposed in the walking assistance apparatus (2), the foot attachment part (25) being configured to be attached to a user's foot;

pressure detection means (28) disposed in the foot attachment part (25), the pressure detection means (28) being configured to detect a pressure exerted on a user's sole;

pressure center calculation means for successively calculating a center position of a pressure exerted on the sole during a user's gait motion based on the pressure on the sole detected by the pressure detection means (28); and

motion determination means (357) adapted to determine a timing of start of forward swinging of the leg to which the walking assistance apparatus (2) is attached by determining that the center position of the pressure calculated by the pressure center calculation means is shifted from a position in a heel region of the sole to a toe region thereof, the timing being when the calculated center position of the pressure has changed from a value smaller than a heel-region determination threshold to a value equal to or greater than a toe-region determination threshold,

the control means (35) is adapted to make the first pulling means (33) generate an additional pulling force in addition to the pulling force supporting the weight of the walking assistance apparatus (2) when it is determined by the gait state determination apparatus that it is the start of forward swinging of the leg, and

the control means (35) is configured to change the magnitude of the additional pulling force according to the magnitude of the toe-region determination threshold.
The walking training apparatus (1) according to claim 1, wherein the pressure detection means (28) comprises at least three pressure sensors provided on a toe side and a heel side of the foot attachment part (25) and not arranged in a straight line.
The walking training apparatus (1) according to claim 1 or 2, wherein the motion determination means (357) is adapted to determine that it is the timing of the start of forward swinging of the leg to which the walking assistance apparatus (2) is attached when the center position of the pressure is shifted from the heel region of the sole to the toe region thereof and remains in the toe region for a predetermined time.